From 92462ffa64bbf44568e185a42a06fa8eab0e9c88 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Wed, 21 Feb 2024 21:02:29 +0300 Subject: [PATCH 1/3] fix(raw_vehicle_cmd_converter): csv paths are resolved in param.yaml MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- .../config/raw_vehicle_cmd_converter.param.yaml | 3 +++ .../launch/raw_vehicle_converter.launch.xml | 7 ------- 2 files changed, 3 insertions(+), 7 deletions(-) diff --git a/vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml b/vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml index 1001696d96679..bce50a0b581c7 100644 --- a/vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml +++ b/vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml @@ -1,5 +1,8 @@ /**: ros__parameters: + csv_path_accel_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv + csv_path_brake_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv + csv_path_steer_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv convert_accel_cmd: true convert_brake_cmd: true convert_steer_cmd: true diff --git a/vehicle/raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml b/vehicle/raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml index a74cdcc56132d..0a9962a7c2a30 100644 --- a/vehicle/raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml +++ b/vehicle/raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml @@ -1,9 +1,5 @@ - - - - @@ -13,9 +9,6 @@ - - - From 4c8883a8a26a754366559e2bb50f6fcf10038f2d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Wed, 21 Feb 2024 21:44:36 +0300 Subject: [PATCH 2/3] bring back the schema defs MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- .../schema/raw_vehicle_cmd_converter.schema.json | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json b/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json index cc292c5a8c40f..4576a4457c05e 100644 --- a/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json +++ b/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json @@ -6,6 +6,21 @@ "raw_vehicle_cmd_converter": { "type": "object", "properties": { + "csv_path_accel_map": { + "type": "string", + "description": "path for acceleration map csv file", + "default": "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv" + }, + "csv_path_brake_map": { + "type": "string", + "description": "path for brake map csv file", + "default": "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv" + }, + "csv_path_steer_map": { + "type": "string", + "description": "path for steer map csv file", + "default": "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv" + }, "convert_accel_cmd": { "type": "boolean", "description": "use accel or not", From 7ad4075dd5f72345a5629795a0b756e67fe7c6b0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Thu, 22 Feb 2024 14:41:38 +0300 Subject: [PATCH 3/3] bring back removed map schema lines MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- .../schema/raw_vehicle_cmd_converter.schema.json | 3 +++ 1 file changed, 3 insertions(+) diff --git a/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json b/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json index 4576a4457c05e..4b562f401e09b 100644 --- a/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json +++ b/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json @@ -157,6 +157,9 @@ } }, "required": [ + "csv_path_accel_map", + "csv_path_brake_map", + "csv_path_steer_map", "convert_accel_cmd", "convert_brake_cmd", "convert_steer_cmd",